Information processing apparatus and information processing method

ABSTRACT

The present disclosure relates to an information processing apparatus and an information processing method that make it possible to appropriately guide a flying object to a target object even in a case where a translucent substance such as fog exists. In a first period, a gated image of a target object is captured, and in a second period, a user handles a guidance control device for projecting a spotlight, in the same direction as an image capturing direction for capturing the gated image, by changing a distance and a direction, in order to bring the target object into a state in which the target object can be captured as the gated image, and then a laser pointer is projected on the target object. Thus, a flying object is guided toward reflected light that is the light of the laser pointer reflected by the target object, and thereby the flying object can be appropriately guided to the target object even in a case where a translucent substance such as fog exists. The present disclosure can be applied to a guided flying object such as a drone.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a U.S. National Phase of International PatentApplication No. PCT/JP2017/022677 filed on Jun. 20, 2017, which claimspriority benefit of Japanese Patent Application No. JP 2016-132249 filedin the Japan Patent Office on Jul. 4, 2016. Each of the above-referencedapplications is hereby incorporated herein by reference in its entirety.

TECHNICAL FIELD

The present disclosure relates to an information processing apparatusand an information processing method, and particularly to an informationprocessing apparatus and an information processing method for guiding aflying object appropriately even in a case where a translucent substancesuch as fog exists, by means of a combination of gated imaging and alaser pointer or the like for indicating a direction of the gatedimaging.

BACKGROUND ART

There is a proposed imaging technique, which is known by names such asactive gated imaging, active imaging, or range-gated active imaging andis called gated imaging in Japan, for sharply imaging only an imagedobject at a specific distance by emitting pulse light and capturing animage by an image sensor only during a predetermined period in which thepulse light arrives and illuminates (see Non-Patent Literature 1).

Also, there is a proposed technology in which a pinpoint light (light ofa laser pointer or the like) is projected on a target object to guide aflying object, and the flying object detects the direction of thepinpoint light reflected from the target object and flies toward thedetected direction to fly to the target object (see Patent Literature1).

Note that as a device for knowing the intensity and direction of light,HARLID (High Angular Resolution Laser Irradiance Detector) (trademark)which is a product of Excelitas Technologies Corporation is known forexample.

CITATION LIST Non-Patent Literature

Non-Patent Literature 1: David Monnin, Armin L. Schneider, FrankChristnacher, Yves Lutz, “A 3D Outdoor Scene Scanner Based on aNight-Vision Range-Gated Active Imaging System,” 3D Data ProcessingVisualization and Transmission, International Symposium on, pp. 938-945,Third International Symposium on 3D Data Processing, Visualization, andTransmission (3DPVT'06), 2006

Patent Literature

Patent Literature 1: JP S62-175683A

DISCLOSURE OF INVENTION Technical Problem

By the way, in a flight control system of an aircraft of the past, thereare following drawbacks when fog is generated. In the first place, inorder to project the light of the laser pointer on the target object, itis necessary that an operator can visually recognize where the targetobject is located, but there was a possibility that the operator isunable to visually recognize the target object in the fog.

Then, if the above-described gated imaging device is used, the targetobject can be visually recognized even in the fog, but it was necessaryto cause the gated imaging device and the laser pointer to cooperate.

In addition, even if the light of the laser pointer can be projectedtoward the target object, the projected light is also reflected from thefog existing between the laser pointer and the target object.

Therefore, the light reflected by the fog and the light that reaches thetarget object and is reflected by the target object are detected by theflying object, but which light to fly toward is needed to be judged.

The present disclosure has been made in view of such a situation, andparticularly causes the gated imaging device and the laser pointer tocooperate to visually recognize the target object even in a translucentsubstance such as fog, in order to guide the flying object to the targetobject appropriately.

Solution to Problem

According to a first aspect of the present disclosure, there is providedan information processing apparatus that indicates a direction that theinformation processing apparatus pays attention to, with a spotlight,including: a gated imaging unit configured to capture a gated image; anda spotlight projecting unit configured to project the spotlight. Thespotlight projecting unit projects the spotlight in a same direction asan image capturing direction of the gated imaging unit.

The gated imaging unit can intermittently capture the gated image duringa first period, the spotlight projecting unit can intermittently projectthe spotlight during a second period that is different from the firstperiod, and the first period and the second period can be repeatedalternately.

The spotlight projecting unit can project the spotlight by emittingpulse light at predetermined intervals.

An input unit configured to input a distance to a target object; and adisplay unit configured to display an image captured by the gatedimaging unit can be further included. The direction for projecting thespotlight of the spotlight projecting unit is settable to apredetermined direction by a user, and in a case where the predetermineddirection and the distance are identical with a direction and a distancein which the target object exists, the gated imaging unit can capturethe gated image of the target object, and the imaged target object canbe displayed on the display unit as the gated image.

When the predetermined direction and the distance are identical with adirection and a distance in which a predetermined target object exists,and the target object is displayed on the display unit as the gatedimage, the spotlight projecting unit can project the spotlight to thetarget object that exists in the same direction as the image capturingdirection of the gated imaging unit.

According to the first aspect of the present disclosure, there isprovided an information processing method of an information processingapparatus that indicates a direction that the information processingapparatus pays attention to, with a spotlight, the informationprocessing method including steps of: capturing a gated image; andprojecting the spotlight. The spotlight is projected in a same directionas an image capturing direction of the gated image.

In the first aspect of the present disclosure, the gated image iscaptured, the spotlight is projected, and the spotlight is projected inthe same direction as the image capturing direction of the gated image.

According to a second aspect of the present disclosure, there isprovided an information processing apparatus that detects a directionthat another information processing apparatus pays attention to,including: an arriving light detecting unit configured to detect a lightamount of reflected light when a spotlight that the other informationprocessing apparatus projects in the direction that the otherinformation processing apparatus pays attention to is reflected by atarget object, together with a time; and a maximum value detecting unitconfigured to detect a maximum value of the light amount detected by thearriving light detecting unit, together with a time, within apredetermined period.

The arriving light detecting unit can further detect an arrivaldirection of the reflected light, and the information processingapparatus can further include a direction detecting unit configured todetect the direction that the other information processing apparatuspays attention to, by specifying the arrival direction of the reflectedlight on a basis of a time at which the light amount of the reflectedlight is a maximum value.

The predetermined period can be designated by the other informationprocessing apparatus.

The maximum value detecting unit can repeat, a plurality of times, aprocess of detecting the maximum value of the light amount detected bythe arriving light detecting unit together with the time, during eachpredetermined period.

The predetermined period can be a period during which the arriving lightdetecting unit is able to receive the reflected light set on a basis ofa distance from an own position to the target object.

The predetermined period can be a period during which the arriving lightdetecting unit is able to receive the reflected light set on a basis ofa distance obtained by subtracting an own moving distance from adistance from the own position to the target object.

A flying object whose flight is controlled by the direction detectingunit can be further included. The direction detecting unit can controlthe flying object to fly in a direction of the target object that theother information processing apparatus pays attention to.

According to the second aspect of the present disclosure, there isprovided an information processing method of an information processingapparatus that detects a direction that another information processingapparatus pays attention to, the information processing method includingsteps of: detecting a light amount of reflected light, from apredetermined target object, of light that the other informationprocessing apparatus projects in the direction that the otherinformation processing apparatus pays attention to, together with atime; and detecting a maximum value of the detected light amounttogether with a time, within a predetermined period.

In the second aspect of the present disclosure, the light amount of thereflected light, from the predetermined target object, of the lightprojected toward the direction that another information processingapparatus pays attention to is detected together with the time, and themaximum value of the detected light amount is detected together with thetime within the predetermined period.

Advantageous Effects of Invention

According to one aspect of the present disclosure, it is possible toappropriately guide a flying object to a target object even in a casewhere a translucent substance such as fog exists.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a block diagram illustrating a configuration example of agated imaging device.

FIG. 2 is a diagram for describing an overview of a flight controlsystem of the present disclosure.

FIG. 3 is a diagram for describing an overview of a flight controlsystem of the present disclosure.

FIG. 4 is a block diagram illustrating a configuration example of aguidance control device of the present disclosure.

FIG. 5 is a diagram illustrating a relationship between an imaged areaof a gated imaging unit and an emission direction of a laser pointer ina guidance control device.

FIG. 6 is a diagram for describing a configuration example of a flightcontrol system.

FIG. 7 is a timing chart for describing a flight control process.

FIG. 8 is a flowchart for describing a guidance control process.

FIG. 9 is a block diagram for describing a configuration example of aflight control device.

FIG. 10 is a timing chart for describing second operation.

FIGS. 11A and 11B are diagrams for describing second operation before aflying object flies and second operation after a flying object hasflown.

FIG. 12 is a timing chart for describing second operation before aflying object flies and second operation after a flying object hasflown.

FIG. 13 is a flowchart for describing a flight control process.

FIG. 14 is a diagram for describing a configuration example of ageneral-purpose personal computer.

MODE(S) FOR CARRYING OUT THE INVENTION

Hereinafter, (a) preferred embodiment(s) of the present disclosure willbe described in detail with reference to the appended drawings. Notethat, in this specification and the appended drawings, structuralelements that have substantially the same function and structure aredenoted with the same reference numerals, and repeated explanation ofthese structural elements is omitted.

<Regarding Gated Imaging>

A flight control system of the present disclosure performs control toappropriately guide the flight of a flying object even in a case where atranslucent substance such as fog exists, by a combination of gatedimaging and a laser pointer indicating a direction of the gated imaging.

Thus, in describing the flight control system of the present disclosure,the principle of gated imaging will be described first.

FIG. 1 is a diagram for describing a configuration of a gated imagingdevice 11 that performs gated imaging and its principle.

The gated imaging device 11 includes a light emitting unit 21 that emitspulse light and an image sensor 22 that captures an image of a targetobject, which is an imaged object, by receiving reflected light.

For example, an imaged object 13 is assumed to be imaged by using thegated imaging device 11 in a state illustrated in FIG. 1. That is, it isassumed that fog 12 is generated around the middle between the gatedimaging device 11 and the imaged object 13.

In this case, as illustrated in FIG. 1, the image sensor 22 receivesonly the reflected light from the imaged object 13 without receiving thereflected light from the fog 12, by setting such that only reflectedlight from a range between a distance D1 and a distance D2 between whichthe imaged object 13 exists (that is, an exposure start time T1+=(2×D1)/c and an exposure end time T2′=(2×D2/c) is received.

As a result, the image sensor 22 can capture a sharp projection image ofthe imaged object 13. Here, “distance to the fog 12”<distanceD1<“distance to the imaged object 13”<distance D2. The light that isreflected by the fog 12 and returns after pulse light is emitted isearlier than the time T1′=(2×D1)/c, and thus the light is not receivedby the image sensor 22.

By the gated imaging of the above principle, the gated imaging device 11can capture a sharp image of only the imaged object 13 existing at apredetermined distance, even in a state where the translucent substancesuch as the fog 12 exists between the imaged object 13 and the gatedimaging device 11.

Configuration Example of Flight Control System of Present Disclosure

Next, an overview of the flight control system for controlling theguidance of the flight direction of the flying object by causing thegated imaging device 11 and the laser pointer to cooperate will bedescribed.

As illustrated in FIG. 2, in this flight control system, an operator 31operates the guidance control device 32 from a quay wall 51 (inputsdistance information and changes the pointing direction of the laserpointer) to guide the flight of a guided flying object 35 such as adrone carrying relief supply to a target object 34 which is a ship suchas a yacht drifting in the sea 52, in order to deliver the relief supplyfrom the flying object 35 to the ship of the target object 34, forexample.

At this time, it is assumed that fog 33 is generated between the quaywall 51 and the target object 34. The light L1 from a laser pointer 72(FIG. 4) provided in the guidance control device 32 is reflected whenthe light L1 reaches the target object 34, and reaches the flying object35 such as the drone carrying the relief supply (not depicted) asreflected light L2. For example, the flying object 35 flies in a flightdirection F1, aiming the direction from which this reflected light L2arrives.

Since the target object 34 such as the yacht is drifting, its positionchanges with time. Therefore, the operator 31 adjusts the orientation ofthe guidance control device 32, in such a manner that the light L1 fromthe laser pointer 72 is always projected toward the target object 34.

For example, the state illustrated in FIG. 2 changes to a stateillustrated in FIG. 3, at the next time (for example, after 2/60 second)after the lapse of a predetermined time. At this time, the target object34′ in FIG. 3 moves (drifts) to the lower right direction in the drawingas compared with the state illustrated with the target object 34 in FIG.2.

Then, the operator 31 adjusts the orientation of the guidance controldevice 32 in such a manner that the light L1 from the laser pointer 72is projected to the target object 34 that has moved in the lower rightdirection in the drawing. Also, the flying object 35 has flown in theflight direction F1, and thus has moved to the flying object 35′illustrated in FIG. 3. The light L1′ from the laser pointer 72 providedin the guidance control device 32 reaches the target object 34′, and isreflected as the reflected light L2′, and reaches the flying object 35′carrying the relief supply. The flying object 35′ flies toward a flightdirection F1′ which is the direction of the target object 34′, by aimingthe arrival direction of the reflected light L2′.

By continuously projecting the light L1 or L1′ from the laser pointer 72toward the target object 34 or 34′ at all times, the flying object 35 or35′ can approach the target object 34 or 34′. Ultimately, the flyingobject 35 collides with the target object 34, and for example if thelight from the laser pointer 72 is continuously projected to the sail ofthe yacht which is the target object 34, the flying object 35 such asthe drone collides with the sail of the yacht and falls, for example. Ifthe flying object 35 collides with the sail and falls, the flying object35 is destroyed, but the relief supply carried by the flying object 35can be delivered to the crew of the yacht.

Of course, a collision avoidance device (not depicted) may be attachedto the flying object 35, so that the flying object 35 descends and landsautomatically just before the collision. In this way, it is possible toland the flying object 35 on the deck of the yacht, without destroyingthe flying object 35. Note that detailed description of the collisionavoidance device will be omitted.

By the way, as described with reference to FIG. 2, the light L1 from thelaser pointer 72 is also reflected by the fog 33 and reaches the flyingobject 35 as reflected light L3. It is necessary that the flying object35 distinguishes the reflected light L3 from the reflected light L2. Inaddition, the operator 31 needs to project the light from the laserpointer 72 toward the target object 34 on a far side of the fog 33. Bysatisfying such needs, the flight control system of the presentdisclosure can visually recognize the target object even in thetranslucent substance such as the fog, in order to guide the flyingobject to the target object.

Configuration Example of Guidance Control Device in Flight ControlSystem of Present Disclosure

Next, a configuration example of the guidance control device 32 in theflight control system of the present disclosure will be described withreference to FIG. 4.

The guidance control device 32 includes a control unit 71, a laserpointer 72, a gated imaging unit 73, a monitor 74, and an input unit 75.

The control unit 71 controls the operation of the gated imaging unit 73and controls light emission of the laser pointer 72. In addition, whenthe operator 31 operates the input unit 75 to input the distanceinformation to the target object 34, the input unit 75 supplies thedistance information to the target object 34 according to the operationcontent to the control unit 71. In addition, when the operator 31operates the input unit 75 to instruct a flight start of the flyingobject 35, the input unit 75 supplies an instruction of the flight startto the control unit 71. The control unit 71 instructs flight of theflying object 35 on the basis of this instruction.

In addition, the control unit 71 generates a synchronization pulsesignal and outputs the synchronization pulse signal from asynchronization timing output terminal 76 to an arrival directiondetecting device 41 connected to the flying object 35.

The gated imaging unit 73 includes a light emitting unit 81 and an imagesensor 82. The gated imaging unit 73 is similar to the gated imagingdevice 11 described with reference to FIG. 1, and thus the lightemitting unit 81 and the image sensor 82 are also similar to the lightemitting unit 21 and the image sensor 22.

That is, the image sensor 82 controls the light emitting unit 81 to emitlight at a timing set on the basis of the predetermined distanceinformation input by the input unit 75, and captures an image of thetarget object 34 at the predetermined distance, and causes the targetobject 34 to be displayed on the monitor 74 such as liquid crystaldisplay (LCD) and organic electro luminescence (EL).

For example, as illustrated in FIG. 5, the laser pointer 72 projectspulse laser light (the light L1 of FIG. 2) toward a direction P1 inwhich the laser light transmits through a substantially center positionof an imaged area Z1 of the image sensor 82 substantiallyperpendicularly to an imaging surface.

Note that an optical block such as a lens is actually provided in frontof the image sensor 82, and the image of the imaged object is collectedby the optical block, so that the image of the imaged object isprojected and formed onto the imaging surface of the image sensor 82.

That is, the laser light is projected in the direction P1 in which thelaser light transmits through the substantially center position of theimaged area Z1 in the image sensor 82 of the gated imaging unit 73, andthereby the light of the laser pointer 72 is appropriately projected tothe target object 34, by the operator 31 merely watching the monitor 74and adjusting the orientation of the guidance control device 32 toposition the object 34 at the center position of the monitor 74.

<Operation of Guidance Control Device>

Next, the operation of the guidance control device 32 will be described.

When thinking about sending the relief supply by the flying object 35,the operator 31 at the quay wall 51 is unable to visually recognize thetarget object 34 clearly due to the fog 33 at an initial stage, and thusis unable to recognize the direction and the distance to the targetobject 34.

Therefore, the operator 31 needs to direct the gated imaging unit 73 ofthe guidance control device 32 in various directions, and set variousdistances, and execute gated imaging, and repeat these until the yachtas the target object 34 appears in the monitor 74.

As described above, the gated imaging unit 73 can capture the sharpimage of the object located at a specific distance only. Since thedistance to the target object 34 is unknown, imaging of variousdistances is attempted. Designation of the distance is performed by theinput unit 75. Information of the distance input by operating the inputunit 75 is supplied to the control unit 71. The control unit 71 controlsthe light emitting unit 81 of the gated imaging unit 73 to emit pulselight, and controls the exposure of the image sensor 82 so as to performexposure for an appropriate exposure time depending on the distanceinput by the input unit 75.

Note that the appropriate exposure time means a minute time afteremitting the pulse light by the light emitting unit 81, which iscentered at (2×“distance input by the input unit 75”)/c (c: lightspeed).

In the initial stage, the operator 31 tries various directions anddistances, but once the target object 34 is found, the operator 31thereafter observes the clear image of the target object 34 transferredto the monitor 74, and finely adjusts the direction of the guidancecontrol device 32 in such a manner that the image of the target object34 appears at the center of the monitor 74. Then, the operator 31instructs a flight start of the flying object 35, by means of the inputunit 75.

When the instruction of flight start is transmitted to the control unit71, the control unit 71 causes a signal (synchronization pulse signal)of an appropriate synchronization timing to be output from thesynchronization timing output terminal 76 to the arrival directiondetecting device 41 of the flying object 35.

Note that as illustrated in FIG. 6, the synchronization timing outputterminal 76 is electrically and physically connected to asynchronization timing input terminal 111 (FIG. 9) of the flightdirection detecting device 41 (FIG. 9) provided in the flying object 35by using a wire 92. The arrival direction detecting device 41 isintegrated with the main body of the flying object 35 by a supportcolumn 91. The flight direction detecting device 41 judges a flightdirection (detail will be described later) and transmits the flightdirection to the flying body 35 main body via a flight directioninstruction output terminal 112. Then, the flying object 35 flies tomove in the transmitted direction.

Also, the wire 92 is made of a thin transmission line that is easy tobreak, and is configured to be cut, as the flying object 35 startsflying, and as the flying object 35 (that is, the arrival directiondetecting device 41) and the guidance control device 32 separate fromeach other.

As described with reference to FIG. 3, even after the instruction offlight start, the operator 31 continuously and finely adjusts theorientation of the guidance control device 32 at all times, in such amanner that the target object 34 is located at the center position ofthe monitor 74, while watching the monitor 74.

<Regarding Operation of Gated Imaging and Laser Pointer>

Next, with reference to the timing chart of FIG. 7, the operation of theguidance control device 32 will be described in temporal order.

As illustrated in FIG. 7, first operation M1-x and second operation M2-x(x=1, 2, 3, . . . ) are alternately switched every 1/60 second and areoperated at times t91, t92, t93 . . . . For 1/60 second of the firstoperation M1-x, gated imaging is performed by the gated imaging unit 73,and display is performed on the monitor 74 in real time. As a result,the operator 31 can watch the clear image of the target object 34 every2/60 second. In 1/60 second of the second operation M2-x, the laserpointer 72 first emits pulse light.

Since the operator 31 finely adjusts the orientation of the guidancecontrol device 32 at all times in such a manner that the projectionimage of the target object 34 appears at the center of the monitor 74 asdescribed above, the pulse light from the laser pointer 72 iscontinuously projected on the target object 34 even when the targetobject 34 continuously moves. Since the second operation M2-x isrepeated every 2/60 second, the emission interval of the pulse lightfrom the laser pointer 72 is 2/60 second. Here, the pulse light from thelaser pointer 72 is from time t101 to t102, from t103 to t104, . . . ,and each timing is an intermediate time.

The period of the second operation M2-x is provided separately from theperiod of the gated imaging (the first operation M1-x). Thus, it ispossible to distinguish the light emission from the laser pointer 72indicating the target and the light emission from the light emittingunit 81 in the gated imaging.

It is assumed that, in the first operation M1-1, the operator 31 candirect the guidance control device 32 in an appropriate direction. Thatis, it is assumed that the projection image of the target object 34appears at the center of the monitor 74. At this time, the operator 31instructs a flight start from the input unit 75.

In the second operation M2-1 (the second operation M2-x immediatelyafter the instruction of flight start is input from the input unit 75),the control unit 71 instructs the laser pointer 72 to emit pulse light,and then outputs a synchronization pulse signal from the synchronizationtiming output terminal 76 at a time delayed by a time (T1-ΔT1) after thelight emission. Here, T1 is a round-trip time T1=(2×D)/c, which iscalculated from the light speed c and a round-trip distance 2D, when thedistance instructed by the input unit 75 immediately before is D. Also,ΔT1 is a value considering an error of distance measurement, and is apredetermined minute value.

Upon receipt of the synchronization pulse signal from thesynchronization timing input terminal 111, the arrival directiondetecting device 41 detects the reflected light L2 which is the pulselight from the laser pointer 72 (the pulse light emitted in the secondoperation M2-1) reflected by the target object 34. Then, the arrivaldirection detecting device 41 instructs the flying object 35 to fly inthat direction, via the flight direction instruction output terminal112. Thereby, the flying object 35 starts flying in an appropriatedirection, that is, toward the target object 34. As described earlier,the wire 92 is pulled and cut off immediately after the second operationM2-1.

That is, thereafter, the flying object 35 starts autonomous flight onthe basis of the information projected by the laser pointer 72 of theguidance control device 32.

<Guidance Control Method>

Here, with reference to the flowchart of FIG. 8, a guidance controlmethod by the guidance control device 32 will be described.

In step S11, the control unit 71 resets a timer counter T (not depicted)to 0. Note that the timer counter T can measure a time equal to orshorter than 1/60 second.

In step S12, the control unit 71 controls the gated imaging unit 73 toperform gated imaging, and causes the captured image to be displayed onthe monitor 74. More specifically, the gated imaging unit 73 controlsthe light emitting unit 81 at a timing according to the distance inputfrom the input unit 75 to emit pulse light, and captures, by the imagesensor 82, the reflected light which is the pulse light emitted from thelight emitting unit 81 and reflected by the target object 34 existing atthe input distance.

In step S13, the control unit 71 determines whether or not the timercounter T has counted 1/60 second, and repeats a similar process untilthe timer counter T counts 1/60 second. Then, in a case where it isdetermined that 1/60 second has been counted in step S13, the processproceeds to step S14.

In step S14, the control unit 71 resets the timer counter T to 0, andcontrols the laser pointer 72 to emit pulse light.

In step S15, the control unit 71 determines whether or not the inputunit 75 has been operated to instruct a flight start. In a case wherethe flight start has not been instructed in step S15, the processproceeds to step S18.

In step S18, the control unit 71 determines whether or not the timercounter T has counted 1/60 second, and repeats a similar process untilthe timer counter T counts 1/60 second. Then, in a case where 1/60second has been counted in step S18, the process returns to step S11,and the subsequent process is repeated.

That is, the processing of the first operation M1-x is performed at 1/60second intervals by the process of steps S11 to S13, and thereafter theprocessing of the second operation M2-x is performed at 1/60 intervalsby the process of steps S14, S15, and S18, so that the processings ofthe first operation M1-x and the second operation M2-x are repeatedalternately.

Meanwhile, the above process is repeated until the target object 34 isdisplayed at the center of the monitor 74, while the distance set by theinput unit 75 and the orientation of the guidance control device 32 arechanged.

Then, in a case where the target object 34 is displayed at the center ofthe monitor 74 in order to allow a flight start to be instructed, theprocess proceeds to step S16 in a case where the input unit 75 isoperated to instruct a flight start in step S15, for example.

In step S16, the control unit 71 determines whether or not the value ofthe timer counter T has reached T1-ΔT1.

In a case where the timer counter T has reached T1-ΔT1 in step S16, theprocess proceeds to step S17.

In step S17, the control unit 71 outputs a synchronization pulse signalfrom the synchronization timing output terminal 76, and the processproceeds to step S18.

As a result of this process, the flying object 35 such as the dronestarts flying, and along with this, the wire 92 connecting the arrivaldirection detecting device 41 of the flying object 35 and the guidancecontrol device 32 is pulled and cut off after the flying object 35 hasmoved a predetermined distance.

Configuration Example of Arrival Direction Detecting Device

Next, with reference to the block diagram of FIG. 9, a configurationexample of the arrival direction detecting device 41 of the presentdisclosure will be described.

The arrival direction detecting device 41 operates in pair with theguidance control device 32. The arrival direction detecting device 41detects the reflected light L2 which is the pulse light emitted atintervals of 2/60 second from the laser pointer 72 of the guidancecontrol device 32 and reflected by the target object 34. The arrivaldirection detecting device 41 controls the flight of the flying object35 so that the flying object 35 flies in a direction in which thereflected light L2 is detected.

As illustrated in FIG. 9, the arrival direction detecting device 41includes a detection timing control unit 131, a speed calculation unit132, an arrival direction detecting unit 133, a maximum light amountdetecting unit 134, a direction detecting unit 135, an arrival directioninstructing unit 136, a synchronization timing input terminal 111, andan arrival direction instruction output terminal 112.

Basically, the arrival direction detecting device 41 does not operateuntil the arrival direction detecting device 41 receives asynchronization pulse signal from the guidance control device 32, viathe synchronization timing input terminal 111. Upon receiving thesynchronization pulse signal from the guidance control device 32 via thesynchronization timing input terminal 111 (the second operation M2-1 inFIG. 7), the detection timing control unit 131 controls and operates thearrival direction detecting unit 133 for a period of 2×ΔT1. Note thatΔT1 is a predetermined minute value.

The arrival direction detecting unit 133 detects the intensity anddirection of the light that arrives at the arrival direction detectingdevice 41, and is for example HARLID (High Angular Resolution LaserIrradiance Detector) (trademark), which is a product of ExcelitasTechnologies Corporation, or the like. That is, as illustrated in FIG.9, when the reflected light L2 is incident, the arrival intensity andthe arrival direction are detected, and light intensity data among thedetection results is supplied to the maximum light amount detecting unit134, and arrival direction data is supplied to the direction detectingunit 135.

The arrival direction detecting unit 133 supplies the light intensitydata, which is obtained sequentially, to the maximum light amountdetecting unit 134. The maximum light amount detecting unit 134 detectsa time at which the light amount becomes maximum during the period of2×ΔT1 in which the arrival direction detecting unit 133 is operating,and supplies the time to the detection timing control unit 131 and thearrival direction instructing unit 136.

The direction detecting unit 135 continuously records the arrivaldirection during the period of 2×ΔT1 in which the arrival directiondetecting unit 133 is operating, and records the time and the arrivaldirection as data associated with each other, and supplies the data tothe arrival direction instructing unit 136.

The arrival direction instructing unit 136 acquires, from the directiondetecting unit 135, the arrival direction corresponding to the time atwhich the light amount becomes maximum, which is supplied from themaximum light amount detecting unit 134, and recognizes the arrivaldirection in which the light amount is maximum during the period of2×ΔT1.

The arrival direction instructing unit 136 controls the flying object 35via the arrival direction instruction output terminal 112, to proceed inthe arrival direction in which the light amount becomes maximum.Thereby, the flying object 35 can proceed toward the target object 34.

Also, as illustrated in FIG. 7, the flying object 35 starts flyingduring the operation of the second operation M2-1, and the wire 92 isbroken, and thereby the information becomes unable to be transmittedfrom the guidance control device 32 to the arrival direction detectingdevice 41. In and after the second operation M2-2, the arrival directiondetecting device 41 needs to independently detect the reflected lightwhich is the pulse light emitted from the laser pointer 72 (the pulselight emitted in the second operation M2-x: x is an integer equal to orgreater than 2) and reflected by the target object 34, in order todecide the flight direction and continue the flight sequentially,without an instruction from the guidance control device.

For that purpose, speed data of the flying object 35 is required. Thus,a speed calculation unit 132 is provided in the arrival directiondetecting device 41. For example, the speed calculation unit 132includes a global positioning system (GPS) and a clock (for example,real time clock, etc.), and obtains own flight position information withthe internal GPS, and calculates the speed by calculating a positionaldifference per unit time.

<Regarding Operation of Arrival Direction Detecting Device>

With reference to FIG. 10, the operation of the arrival directiondetecting device 41 in the second operation M2-1 (initial operationbefore starting flight) will be described. In addition, with referenceto FIGS. 11A, 11B, and 12, the operation of the arrival directiondetecting device 41 in and after the second operation M2-2 (theoperation after starting flight) will be described. The description ofthe second operation M2-x (x is an integer equal to or greater than 3)is similar to the second operation M2-2 (FIGS. 10, 11A, and 11B).

(Initial Operation before Starting Flight)

FIG. 10 illustrates temporal changes of the emission of the pulse lightby the laser pointer 72 in the guidance control device 32 during thesecond operation M2-1 and the received light amount (light intensity) ofthe arrival direction detecting unit 133 in the arrival directiondetecting device 41. As illustrated in FIG. 10, pulse light from thelaser pointer 72 is emitted from the first time t121 to t122 in thesecond operation M2-1. Note that the times t121 and t122 in FIG. 10 arethe same as the times t101 and t102 in FIG. 7, respectively.

Since the fog 33 is located in front of the target object 34, the pulselight from the laser pointer 72 is reflected by the fog 33, and thus thearrival direction detecting unit 133 receives the reflected light L3(FIG. 2) in the initial operation.

Since the fog 33 has a thickness, the period during which the reflectedlight L3 is received by the arrival direction detecting unit 133 doesnot end in a moment, but the reflected light is continuously receivedduring a predetermined period. Also, as the light L1 (FIG. 2) of thelaser pointer 72 proceeds toward the fog 33, the intensity of thereflected light L3 by the fog 33 decreases. Accordingly, as illustratedby a range Z11 in FIG. 10, the light reception intensity at which thereflected light L3 is received from the fog 33 attenuates with time. Inother words, the reflected light L3 has a strong reflection intensityfrom the front of the fog 33, and a weak reflection intensity from theback side of the fog 33.

The light L1 (FIG. 2) of the laser pointer 72 attenuates whileproceeding through the fog (translucent substance) 33, but ultimatelyreaches the target object 34. The light L1 having reached the targetobject 34 is completely reflected by the target object 34, generatingthe reflected light L2 (FIG. 2) to be received. Since the target object34 is not transparent, the light reception intensity of the reflectedlight L2 from the target object 34 is stronger than the intensity of thereflected light L3 from the fog (translucent substance) 33 illustratedin a range Z13 which is immediately before the reflection from thetarget object 34, as illustrated in a range Z12 in FIG. 10.

Also, the time that it takes for the pulse light to be emitted from thelaser pointer 72, reach and be reflected by the target object 34, andthereafter reach the arrival direction detecting unit 133 isapproximately time T1. Here, the time T1=(2×D)/c (c: light speed), whenthe distance to the target object 34 in the gated imaging is D. Notethat, in the second operation M2-1, the guidance control device 32 andthe flying object 35 (the arrival direction detecting device 41) arelocated at almost the same position.

Moreover, in FIG. 10, an error is taken into consideration. That is, thetime from when the pulse light of the laser pointer 72 is emitted towhen the pulse light reaches the arrival direction detecting unit 133 istheoretically not the time T1 but the maximum time T1max. That is, thetime T1 includes an error, in relation to the maximum time T1max. Asillustrated in FIG. 10, an intermediate time t141 between the times t131and t132, which is the period during which the pulse light is emitted,is a reference time at which the pulse light is emitted; and atheoretical round-trip time that it takes for the pulse light to bereflected by the target object 34 and reach the arrival directiondetecting unit 133 is the maximum time Tmax; and the arrival time inthis case is time t143; and the arrival time including the error is timet142; and the error is expressed by Δt (=t143−t142).

Thus, the timing, including the error Δt, at which the reflected lightL2 is received from the target object 34 is considered to exist at sometiming between the elapsed time T1-ΔT1 and the elapsed time T1+ΔT fromthe emission of the pulse light, in a case where the possible maximumerror is assumed to be ΔT1, as illustrated in FIG. 10. Here, the timeΔT1 is theoretically calculated from a system error, and thus is a knownvalue.

To summarize the above, the temporal change of the received light amount(light intensity) of the arrival direction detecting unit 133 has arelationship illustrated in FIG. 10.

That is, after the elapsed time from the emission of the pulse light haspassed the time T1-ΔT1, the synchronization pulse signal is input to thesynchronization timing input terminal 111 of the arrival directiondetecting device 41, from the synchronization timing output terminal 76of the guidance control device 32, at the time t152. Thus, the detectiontiming control unit 131 detects the synchronization pulse signal fromthe synchronization timing input terminal 111, and operates the arrivaldirection detecting unit 133 only for the time 2×ΔT1 that follows.

As described above, the direction of the reflected light L2 from thetarget object 34 can be known, by detecting the maximum value (themaximum value at the time t143 in the waveform of FIG. 10) by themaximum light amount detecting unit 134 and knowing the direction atthat time from the direction detecting unit 135. In this way, in thesecond operation M2-1, it is possible to recognize the flight direction(the direction F1 in FIG. 2) to the target object 34.

In this way, the reflected light not from the fog 33 but from the targetobject 34 can be detected, by detecting the maximum value (the time t143at which T1max has elapsed since the pulse light emission, in FIG. 10)within a specific time range (here, between the time T1-ΔT1 and the timeT1+ΔT1).

(Operation after Flight Start)

Next, the operation in and after the second operation M2-2 will bedescribed. As described above, since the synchronization pulse signal isnot transmitted from the guidance control device 32 to the arrivaldirection detecting device 41, the arrival direction detecting device 41needs to autonomously detect the reflected light L2 which is the pulselight from the laser pointer 72 that is reflected by the target object34 and returns, and control the flying object 35 to fly with thereflected light L2 as a target position.

As described with reference to FIG. 7, the pulse light from the laserpointer 72 is emitted every 2/60 second. Thus, the reflected lighthaving the maximum light reception intensity at a timing around 2/60second after the reception time of the reflected light L2 from thetarget object 34 in the second operation M2-x may be detected in theprocess in and after the second operation M2-2. That is, it is a processin the operation expressed by the second operation M2-x, in which x isan integer equal to or greater than 2.

However, in the above description, the moving distance of the flyingobject 35 (that is, the arrival direction detecting device 41) from thesecond operation M2-x to the second operation M2-(x+1) is notconsidered. Thus, here, description considering the moving distance willbe given with reference to FIGS. 11A and 11B. Note that, in FIGS. 11Aand 11B, components having the same functions as the functions describedwith reference to FIGS. 2 and 3 are denoted by the same referencenumerals and the same names, and description thereof is omitted asappropriate.

That is, the upper part of FIGS. 11A and 11B illustrate the secondoperation M2-1, that is, the positional relationship between theguidance control device 32, the target object 34, and the flying object35 (that is, the arrival direction detecting device 41) before theflight start. Noted that the fog 33 is not depicted. Here, it is assumedthat the guidance control device 32 and the flying object 35 (that is,the arrival direction detecting device 41) are located at almost thesame position, and the distance to the target object 34 is approximatelydistance D. This is converted to the round-trip time of light,theoretically time T1 max.

Moreover, the lower part of FIGS. 11A and 11B illustrate the secondoperation M2-2, that is, the positional relationship between theguidance control device 32, the target object 34, and the flying object35 (that is, the arrival direction detecting device 41) immediatelyafter the flight start.

The second operation M2-2 is performed 2/60 second after the secondoperation M2-1, and thus the flying object 35 (that is, the arrivaldirection detecting device 41) proceeds by a distance d, as illustratedin the lower part of FIGS. 11A and 11B. Assuming that the speed of theflying object 35 is V, the moving distance d in FIGS. 11A and 11B. 11 isV×2/60. Thus, the time T2max that it takes for the pulse light to beemitted from the laser pointer 72 in the guidance control device 32,reach and be reflected by the target object 34, and reach the arrivaldirection detecting unit 133 in the arrival direction detecting device41 is approximately {2×D−(V×2/60)}/c. That is, the time T1max-T2max isapproximately (V×2/60)/c.

That is, the upper part of FIG. 11 illustrates the second operationM2-1, that is, the positional relationship between the guidance controldevice 32, the target object 34, and the flying object 35 (that is, thearrival direction detecting device 41) before the flight start. Notedthat the fog 33 is not depicted. Here, it is assumed that the guidancecontrol device 32 and the flying object 35 (that is, the arrivaldirection detecting device 41) are located at almost the same position,and the distance to the target object 34 is approximately distance D.This is converted to the round-trip time of light, theoretically timeT1max.

Moreover, the lower part of FIG. 11 illustrates the second operationM2-2, that is, the positional relationship between the guidance controldevice 32, the target object 34, and the flying object 35 (that is, thearrival direction detecting device 41) immediately after the flightstart.

The second operation M2-2 is performed 2/60 second after the secondoperation M2-1, and thus the flying object 35 (that is, the arrivaldirection detecting device 41) proceeds by a distance d, as illustratedin the lower part of FIG. 11. Assuming that the speed of the flyingobject 35 is V, the moving distance d in FIG. 11 is V× 2/60. Thus, thetime T2max that it takes for the pulse light to be emitted from thelaser pointer 72 in the guidance control device 32, reach and bereflected by the target object 34, and reach the arrival directiondetecting unit 133 in the arrival direction detecting device 41 isapproximately {2×D−(V× 2/60)}/c. That is, the time T1max-T2max isapproximately (V× 2/60)/c.

As described above, the round-trip time that it takes for the pulselight to be emitted from the laser pointer 72 in the guidance controldevice 32, reach and be reflected by the target object 34, and reach thearrival direction detecting unit 133 in the arrival direction detectingdevice 41 changes gradually with the movement. Hereinafter, thisround-trip time is referred to as a round-trip time after flight start.

The change of the round-trip time after flight start is as illustratedin FIG. 12, for example. That is, after the first pulse light emissionfrom a time t211 to a time t212 in the second operation M2-1, the lightreception level detected by the arrival direction detecting unit 133 isgradually attenuated by the fog 33 from a first light reception timet231 with reference to an intermediate time t201 between the times t211and t212, as illustrated by a range Z31. Then, the maximum value (thelight reception level of the reflected light L2 from the target object34) is detected by the arrival direction detecting unit 133 at a timet232 at which the time T1max has elapsed and which is illustrated in therange Z32. Note that the time t211 and the time t212 in FIG. 12 are thesame as the time t101 and the time t102 in FIG. 7, respectively.

On the other hand, after the second pulse light emission from a timet213 to a time t214 in the pulse light (second operation M2-2) emitted2/60 second later, the light reception level detected by the arrivaldirection detecting unit 133 is gradually attenuated by the fog 33 froma first light reception time t235 with reference to an intermediate timet204 between the times t213 and t214, as illustrated by a range Z33.Then, the maximum value (the light reception level of the reflectedlight L2 from the target object 34) is detected by the arrival directiondetecting unit 133 at a time t215 at which the time T2max has elapsedand which is illustrated by a range Z34. Note that the time t213 and thetime t214 in FIG. 12 are the same as the time t103 and the time t104 inFIG. 7, respectively.

The time difference between the first pulse light emission from thelaser pointer 72 for detecting the time T1max and the second pulse lightemission from the laser pointer 72 for detecting the time T2max is 2/60second. Accordingly, the light of the second pulse light emissionreflected from the target object 34 is delayed by ( 2/60)−{(V× 2/60)c}seconds from the light of the first pulse light emission reflected fromthe target object 34.

When the possible maximum error is ΔT1 (which is the same error valueΔT1 as the error in the second operation M2-1, but of course differentvalues may be set between the second operation M2-1 and the secondoperation M2-2), the time T2max can be obtained by detecting a time atwhich the light amount becomes the maximum value within a time range Tzof ±ΔT1 centered at the time ( 2/60)−{(V× 2/60)/c}, from the timedetected by the maximum light amount detecting unit 134 in the secondoperation M2-1, as illustrated in FIG. 12.

As described above, not the reflection from the fog 33 but the reflectedlight L2 from the target object 34 can be detected by detecting themaximum value (the time t215 at which the time T2max has elapsed sincethe time t204 at which the second pulse light is emitted, in FIG. 12)within the specific time range Tz (here, between the time ( 2/60)−{(V×2/60)/c}−ΔT1 and the time ( 2/60)−{(V× 2/60)/c}+ΔT1 with reference tothe last time at which the maximum value is detected).

That is, the maximum value between the time ( 2/60)−{(V× 2/60)/c}−ΔT1and the time ( 2/60)−{(V× 2/60)/c}+ΔT1 is detected, with reference tothe last time when the maximum value is detected by the maximum lightamount detecting unit 134. Then, by knowing from the direction detectingunit 135 the arrival direction at the time when the maximum value isdetected this time, the arrival direction instructing unit 136 caninstruct the flying object 35 to proceed in the direction of the targetobject 34.

<Flight Control Process>

Next, a flight control process will be described with reference to theflowchart of FIG. 13.

In step S51, the detection timing control unit 131 determines whether ornot the synchronization pulse signal is supplied from the guidancecontrol device 32 via the synchronization timing input terminal 111, andrepeats a similar process until the synchronization pulse signal issupplied.

Then, if the synchronization pulse signal is supplied in step S51, theprocess proceeds to step S52.

In step S52, the detection timing control unit 131 controls the arrivaldirection detecting unit 133 to detect the arrival direction during theperiod of time 2×ΔT1.

In step S53, during the period of time 2×ΔT1, the arrival directiondetecting unit 133 supplies information regarding the received lightintensity to the maximum light amount detecting unit 134, and suppliesinformation regarding the arrival direction to the direction detectingunit 135.

In step S54, the maximum light amount detecting unit 134 supplies thetime of the maximum light intensity to the arrival direction instructingunit 136 and the detection timing control unit 131.

In step S55, the arrival direction instructing unit 136 recognizes theinformation regarding the arrival direction corresponding to the timesupplied from the maximum light amount detecting unit 134, from theinformation regarding the arrival direction which is supplied from thedirection detecting unit 135.

In step S56, the arrival direction instructing unit 136 supplies aninstruction to cause the flying object 35 to fly in the recognizedarrival direction, and controls the flight of the flying object 35.

In step S57, the detection timing control unit 131 determines whether ornot the time ( 2/60)−{(V× 2/60)/c}−ΔT1 has elapsed from the time of themaximum light intensity, and repeats a similar process until the time isdetermined to be elapsed. Here, the speed V is calculated by the speedcalculation unit 132, and is supplied to the detection timing controlunit 131.

Then, in a case where the time ( 2/60)−{(V× 2/60)/c}−ΔT1 has elapsedfrom the time of the maximum light intensity in step S57, the processreturns to step S52, and the subsequent processes are repeated.

By the above process, the operator can visually and clearly recognizethe target object to which the laser pointer is projected, even in thefog, by alternately performing the direction of the gated imaging andthe projection direction of the laser pointer at predetermined timeintervals.

In addition, it is possible to know the approximate time from the firstlight emission of the laser pointer to reflection by the target objectand reaching the arrival direction detecting device, from the imagingdistance designated in the gated imaging. Further, the arrival directiondetecting device can distinguish the reflection from the target objectfrom the reflection from the fog, and detect the reflection from thetarget object, by detecting the maximum value of the light intensityaround the time.

Furthermore, it is possible to know the approximate time from the secondor subsequent light emission of the laser pointer to the reflection bythe target object and reaching the arrival direction detecting device,in consideration of the speed of the arrival direction detecting deviceitself. Thus, the arrival direction detecting device can distinguish thereflection from the target object from the reflection from the fog, anddetect the reflection from the target object, by detecting the maximumvalue of the light intensity around the time.

Although in the above an example in which the flying object is guided tothe yacht of the target object has been described, an object other thanthe flying object may be guided to a target object other than the yacht,and for example a ship, a vehicle, or the like may be guided to a targetobject existing on the ocean or land.

Example of Execution by Software

Incidentally, the above series of processes can, for example, beexecuted by hardware, or can be executed by software. In the case wherethe series of processes is executed by software, a program configuringthis software is installed in a computer included in dedicated hardware,or a general-purpose personal computer, for example, which can executevarious functions when various programs are installed, etc., from arecording medium.

FIG. 14 shows an example configuration of a general-purpose personalcomputer. The personal computer includes a CPU (Central Processing Unit)1001. An input/output interface 1005 is connected to the CPU 1001through a bus 1004. A ROM (Read Only Memory) 1002 and a RAM (RandomAccess Memory) 1003 are connected to the bus 1004.

An input unit 1006 including an input device, such as a keyboard, amouse, etc., which is used by the user to input an operation command, anoutput unit 1007 which outputs a process operation screen or an image ofa process result to a display device, a storage unit 1008 including ahard disk drive etc. which stores a program or various items of data,and a communication unit 1009 including a LAN (Local Area Network)adaptor etc. which performs a communication process through a networktypified by the Internet, are connected to the input/output interface1005. Also, connected is a drive 1010 which reads and writes data fromand to a removable medium 1011, such as a magnetic disk (including aflexible disk), an optical disk (including a CD-ROM (Compact Disc-ReadOnly Memory) and a DVD (Digital Versatile Disc)), an magneto-opticaldisk (including an MD (Mini Disc)), or a semiconductor memory.

The CPU 1001 executes various processes according to a program stored inthe ROM 1002 or a program which is read from the removable medium 1011,such as a magnetic disk, an optical disk, a magneto-optical disk, or asemiconductor memory, is installed in the storage unit 1008, and isloaded from the storage unit 1008 to the RAM 1003. The RAM 1003 alsostores data which is necessary when the CPU 1001 executes variousprocesses, etc., as appropriate.

In the computer configured as described above, the CPU 1001 loads aprogram that is stored, for example, in the storage unit 1008 onto theRAM 1003 via the input/output interface 1005 and the bus 1004, andexecutes the program. Thus, the above-described series of processing isperformed.

Programs to be executed by the computer (the CPU 1001) can be, forexample, provided being recorded in the removable medium 1011 which is apackaged medium or the like. Also, programs may be provided via a wiredor wireless transmission medium, such as a local area network, theInternet or digital satellite broadcasting.

In the computer, by inserting the removable medium 1011 into the drive1010, the program can be installed in the storage unit 1008 via theinput/output interface 1005. Further, the program can be received by thecommunication unit 1009 via a wired or wireless transmission medium andinstalled in the storage unit 1008. Moreover, the program can beinstalled in advance in the ROM 1002 or the storage unit 1008.

It should be noted that the program executed by a computer may be aprogram that is processed in time series according to the sequencedescribed in this specification or a program that is processed inparallel or at necessary timing such as upon calling.

Further, in this specification, a system has the meaning of a set of aplurality of configured elements (such as an apparatus or a module(part)), and does not take into account whether or not all theconfigured elements are in the same casing. Therefore, the system may beeither a plurality of apparatuses, stored in separate casings andconnected through a network, or a single apparatus including a pluralityof modules within a single casing.

Note that an embodiment of the present disclosure is not limited to theembodiments described above, and various changes and modifications maybe made without departing from the scope of the present disclosure.

For example, the present disclosure can adopt a configuration of cloudcomputing in which one function is shared and processed jointly by aplurality of apparatuses through a network.

Further, each step described by the above-mentioned flow charts can beexecuted by one apparatus or shared and executed by a plurality ofapparatuses.

In addition, in the case where a plurality of processes are included inone step, the plurality of processes included in this one step can beexecuted by one apparatus or shared and executed by a plurality ofapparatuses.

Additionally, the present technology may also be configured as below.

<1>

An information processing apparatus that indicates a direction that theinformation processing apparatus pays attention to, with a spotlight,including:

a gated imaging unit configured to capture a gated image; and

a spotlight projecting unit configured to project the spotlight,

in which the spotlight projecting unit projects the spotlight in a samedirection as an image capturing direction of the gated imaging unit.

<2>

The information processing apparatus according to <1>, in which

the gated imaging unit intermittently captures the gated image during afirst period,

the spotlight projecting unit intermittently projects the spotlightduring a second period that is different from the first period, and

the first period and the second period are repeated alternately.

<3>

The information processing apparatus according to <1> or <2>, in which

the spotlight projecting unit projects the spotlight by emitting pulselight at predetermined intervals.

<4>

The information processing apparatus according to any one of <1> to <3>,further including:

an input unit configured to input a distance to a target object; and

a display unit configured to display an image captured by the gatedimaging unit,

in which the direction for projecting the spotlight of the spotlightprojecting unit is settable to a predetermined direction by a user, and

in a case where the predetermined direction and the distance areidentical with a direction and a distance in which the target objectexists, the gated imaging unit captures the gated image of the targetobject, and the imaged target object is displayed on the display unit asthe gated image.

<5>

The information processing apparatus according to <4>, in which

when the predetermined direction and the distance are identical with adirection and a distance in which a predetermined target object exists,and the target object is displayed on the display unit as the gatedimage, the spotlight projecting unit projects the spotlight to thetarget object that exists in the same direction as the image capturingdirection of the gated imaging unit.

<6>

An information processing method of an information processing apparatusthat indicates a direction that the information processing apparatuspays attention to, with a spotlight, the information processing methodincluding steps of:

capturing a gated image; and

projecting the spotlight,

in which the spotlight is projected in a same direction as an imagecapturing direction of the gated image.

<7>

An information processing apparatus that detects a direction thatanother information processing apparatus pays attention to, including:

an arriving light detecting unit configured to detect a light amount ofreflected light when a spotlight that the other information processingapparatus projects in the direction that the other informationprocessing apparatus pays attention to is reflected by a target object,together with a time; and

a maximum value detecting unit configured to detect a maximum value ofthe light amount detected by the arriving light detecting unit, togetherwith a time, within a predetermined period.

<8>

The information processing apparatus according to <7>, in which

the arriving light detecting unit further detects an arrival directionof the reflected light, and

the information processing apparatus further includes a directiondetecting unit configured to detect the direction that the otherinformation processing apparatus pays attention to, by specifying thearrival direction of the reflected light on a basis of a time at whichthe light amount of the reflected light is a maximum value.

<9>

The information processing apparatus according to <7> or <8>, in which

the predetermined period is designated by the other informationprocessing apparatus.

<10>

The information processing apparatus according to any one of <7> to <9>,in which

the maximum value detecting unit repeats, a plurality of times, aprocess of detecting the maximum value of the light amount detected bythe arriving light detecting unit together with the time, during eachpredetermined period.

<11>

The information processing apparatus according to <10>, in which

the predetermined period is a period during which the arriving lightdetecting unit is able to receive the reflected light set on a basis ofa distance from an own position to the target object.

<12>

The information processing apparatus according to <10>, in which

-   -   the predetermined period is a period during which the arriving        light detecting unit is able to receive the reflected light set        on a basis of a distance obtained by subtracting an own moving        distance from a distance from the own position to the target        object.        <13>

The information processing apparatus according to <8>, furtherincluding:

-   -   a flying object whose flight is controlled by the direction        detecting unit,    -   in which the direction detecting unit controls the flying object        to fly in a direction of the target object that the other        information processing apparatus pays attention to.        <14>

An information processing method of an information processing apparatusthat detects a direction that another information processing apparatuspays attention to, the information processing method including steps of:

detecting a light amount of reflected light, from a predetermined targetobject, of light that the other information processing apparatusprojects in the direction that the other information processingapparatus pays attention to, together with a time; and

detecting a maximum value of the detected light amount together with atime, within a predetermined period.

REFERENCE SIGNS LIST

-   11 gated imaging device-   21 light emitting unit-   22 image sensor-   31 operator-   32 guidance control device-   33 fog-   34 target object-   35 flying object-   41 arrival direction detecting device-   51 quay wall-   52 sea-   71 control unit-   72 laser pointer-   73 gated imaging unit-   74 monitor-   75 input unit-   76 synchronization timing output terminal-   81 light emitting unit-   82 image sensor-   91 support column-   92 wire-   111 synchronization timing input terminal-   112 arrival direction instruction output terminal-   131 detection timing control unit-   132 speed calculation unit-   133 arrival direction detecting unit-   134 maximum light amount detecting unit-   135 direction detecting unit-   136 arrival direction instructing unit

The invention claimed is:
 1. A first information processing apparatus,comprising: circuitry configured to: detect a light amount, of reflectedlight from a target object, based on reflection of a spotlight by thetarget object, wherein the spotlight is projected by a secondinformation processing apparatus in a first direction; detect a maximumvalue of the light amount; detect a time at which the light amount ofthe reflected light has the maximum value, wherein the maximum value ofthe light amount is detected within a specific period; detect an arrivaldirection of the reflected light based on the time at which the lightamount of the reflected light has the maximum value; detect a seconddirection of the target object based on the detected arrival directionof the reflected light; and control a flight of a flying object in thedetected second direction of the target object.
 2. The first informationprocessing apparatus according to claim 1, wherein the specific periodis designated by the second information processing apparatus.
 3. Thefirst information processing apparatus according to claim 1, wherein thecircuitry is further configured to repeat a process of the detection ofthe maximum value of the light amount in each specific period.
 4. Thefirst information processing apparatus according to claim 3, wherein thespecific period is a period in which the circuitry is further configuredto receive the reflected light based on a distance from a position ofthe first information processing apparatus to the target object.
 5. Thefirst information processing apparatus according to claim 3, wherein thespecific period is a period in which the circuitry is further configuredto receive the reflected light based on a first distance, and the firstdistance is obtained by subtraction of a moving distance of the firstinformation processing apparatus from a second distance between aposition of the first information processing apparatus and the targetobject.
 6. An information processing method, comprising: detecting, bycircuitry of an information processing apparatus, a light amount ofreflected light from a target object, wherein the detection of the lightamount is based on reflection of a spotlight by the target object, andthe spotlight is projected by a second information processing apparatusin a first direction; detecting, by the circuitry, a maximum value ofthe light amount, and a time at which the light amount of the reflectedlight has the maximum value, wherein the maximum value of the lightamount is detected within a specific period; detecting, by thecircuitry, an arrival direction of the reflected light based on the timeat which the light amount of the reflected light has the maximum value;detecting, by the circuitry, a second direction of the target objectbased on the detected arrival direction of the reflected light; andcontrolling, by the circuitry, a flight of a flying object in thedetected second direction of the target object.